# Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

> Research article (Asian Journal of Control, 2018) · cited 28× · AI/ML

**Wikidata**: [openalex:W2905009287](https://www.wikidata.org/wiki/openalex:W2905009287)  
**Source**: https://4ort.xyz/entity/backstepping-control-of-flexible-joint-manipulator-based-on-hyperbolic-tangent-function-with-control-input-and-rate-cons